Legged robot locomotion on viscoelastic terrain using a reduced-order dynamic model with rolling contact and energy input and dissipation

Abstract

In recent decades, robots have gradually taken on more tasks that require mobility. However, unlike animals that are capable of coordinating complex sensing organs and muscles to achieve dynamic motion on all kinds of terrains, robots have difficulties traversing rough terrains at high speeds due to limitations of computational resources, actuator strength, etc. This research aims to build a new model that captures the essence of how animals achieve dynamic motion and traverse rough terrains. Based on the previously developed dynamic model running on the rigid ground, this model incorporates the interaction between the leg and the ground, which is described by a combination of linear springs and dampers that can model a wide range of terrains. Simulation results show chaotic behavior under certain conditions, and an experiment verified such behavior. This work underscores the urgency and significance of understanding and replicating the capabilities of animals in robot locomotion, and its relevance to the field of robotics is significant.